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<li class="navelem"><a class="el" href="dir_c1698e121239b1aba7f6e782e4514e49.html">cFS</a></li><li class="navelem"><a class="el" href="dir_7ee4ce95da95d11e80a01c5101ed8d14.html">apps</a></li><li class="navelem"><a class="el" href="dir_c9d22286a3cb107e78b2282fc7730139.html">traffic</a></li><li class="navelem"><a class="el" href="dir_9aa63dfeea5f6ef196b33bdab94c3c3a.html">fsw</a></li><li class="navelem"><a class="el" href="dir_d3832219e8070fbdf51faa0b118dd6c0.html">src</a></li>  </ul>
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<a href="traffic_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef ICAROUS_CFS_TRAFFIC_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define ICAROUS_CFS_TRAFFIC_H</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;cfe.h&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;cfe_error.h&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;cfe_evs.h&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;cfe_sb.h&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;cfe_es.h&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;TrafficMonitor_proxy.h&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msgids_8h.html">msgids/ardupilot_msgids.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="traffic__msgids_8h.html">msgids/traffic_msgids.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="scheduler__msgids_8h.html">msgids/scheduler_msgids.h</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msg_8h.html">msgdef/ardupilot_msg.h</a>&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="traffic__msg_8h.html">msgdef/traffic_msg.h</a>&quot;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="traffic__tbl_8h.html">traffic_tbl.h</a>&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#define TRAFFIC_STARTUP_INF_EID 0</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#define TRAFFIC_COMMAND_ERR_EID 1</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#define TRAFFIC_RECEIVED_INTRUDER_EID 2</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define TRAFFIC_PIPE_DEPTH 100</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#define TRAFFIC_PIPE_NAME &quot;TRAFFIC_PIPE&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#define TRAFFIC_MAJOR_VERSION 1</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define TRAFFIC_MINOR_VERSION 0</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html">   55</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span>{</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#a4a78de3e51ee0b3d8bb36374e453424e">   56</a></span>&#160;    CFE_SB_PipeId_t    <a class="code" href="structTrafficAppData__t.html#a4a78de3e51ee0b3d8bb36374e453424e">Traffic_Pipe</a>;       </div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#a0ebdf3a4641184e19242c603859230c3">   57</a></span>&#160;    CFE_SB_MsgPtr_t    <a class="code" href="structTrafficAppData__t.html#a0ebdf3a4641184e19242c603859230c3">Traffic_MsgPtr</a>;     </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#a70018c62da312dc5c592baf51fdb4c92">   58</a></span>&#160;    TrafficMonitor* <a class="code" href="structTrafficAppData__t.html#a70018c62da312dc5c592baf51fdb4c92">tfMonitor</a>;             </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#ab9d07337512a5bfd295605f92391e4ec">   59</a></span>&#160;    CFE_TBL_Handle_t <a class="code" href="structTrafficAppData__t.html#ab9d07337512a5bfd295605f92391e4ec">Traffic_tblHandle</a>;    </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#ac3dc14b4feef5cd07223494d3fd10592">   60</a></span>&#160;    <a class="code" href="structbands__t.html">bands_t</a> <a class="code" href="structTrafficAppData__t.html#ac3dc14b4feef5cd07223494d3fd10592">trackBands</a>;                    </div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#a1016a825edee3e8a55efadf5fecf325f">   61</a></span>&#160;    <a class="code" href="structbands__t.html">bands_t</a> <a class="code" href="structTrafficAppData__t.html#a1016a825edee3e8a55efadf5fecf325f">speedBands</a>;                    </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#aa961b336b5d93453ccdc01219ca9056a">   62</a></span>&#160;    <a class="code" href="structbands__t.html">bands_t</a> <a class="code" href="structTrafficAppData__t.html#aa961b336b5d93453ccdc01219ca9056a">vsBands</a>;                       </div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#a20eda20a466c7f181a40a9080f4530c1">   63</a></span>&#160;    <a class="code" href="structbands__t.html">bands_t</a> <a class="code" href="structTrafficAppData__t.html#a20eda20a466c7f181a40a9080f4530c1">altBands</a>;                      </div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#a44a2a0c9e85d16de94908c358f443fcd">   64</a></span>&#160;    <a class="code" href="structflightplan__t.html">flightplan_t</a> <a class="code" href="structTrafficAppData__t.html#a44a2a0c9e85d16de94908c358f443fcd">flightplan</a>;               </div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#af169ae13c081ae97186fcfd52066b854">   65</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="ardupilot_8h.html#a97f6f07d9b99c3e3d789183a9064a7da">position</a>[3];                    </div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#a878fe98935990fd4f97f80512937171d">   66</a></span>&#160;    <span class="keywordtype">double</span> velocity[3];                    </div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#a867c381b45910858bf9a95803d7a2fcb">   67</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrafficAppData__t.html#a867c381b45910858bf9a95803d7a2fcb">time</a>;                           </div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#ac655b563c2dd27caa6770ca54ed4bc12">   68</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structTrafficAppData__t.html#ac655b563c2dd27caa6770ca54ed4bc12">log</a>;                              </div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structTrafficAppData__t.html#a0f3cbfe878ef7f1718e37bb4967546b0">   69</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structTrafficAppData__t.html#a0f3cbfe878ef7f1718e37bb4967546b0">numTraffic</a>;                        </div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}<a class="code" href="structTrafficAppData__t.html">TrafficAppData_t</a>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keywordtype">void</span> <a class="code" href="traffic_8h.html#a0ba93009b8def22907ba0a8ac49851ab">TRAFFIC_AppMain</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keywordtype">void</span> <a class="code" href="traffic_8h.html#a21d35f1721b07c5715a090e32d17d0fe">TRAFFIC_AppInit</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keywordtype">void</span> <a class="code" href="traffic_8h.html#a22a3ce03169c30443bfe25a74cbb3316">TRAFFIC_AppCleanUp</a>();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keywordtype">void</span> <a class="code" href="traffic_8h.html#a288a99cb0d7b8001faf9a44dcdbb9a7c">TRAFFIC_ProcessPacket</a>();</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;int32_t <a class="code" href="traffic_8h.html#a0363cf678ca35e2ddc94dc4122dc8c80">TrafficTableValidationFunc</a>(<span class="keywordtype">void</span> *TblPtr);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<a class="code" href="structTrafficAppData__t.html">TrafficAppData_t</a> trafficAppData;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="preprocessor">#endif //ICAROUS_CFS_TRAFFIC_H</span></div><div class="ttc" id="structTrafficAppData__t_html_a70018c62da312dc5c592baf51fdb4c92"><div class="ttname"><a href="structTrafficAppData__t.html#a70018c62da312dc5c592baf51fdb4c92">TrafficAppData_t::tfMonitor</a></div><div class="ttdeci">TrafficMonitor * tfMonitor</div><div class="ttdoc">Opaque pointer to TrafficMonitor. </div><div class="ttdef"><b>Definition:</b> traffic.h:58</div></div>
<div class="ttc" id="structTrafficAppData__t_html_ac655b563c2dd27caa6770ca54ed4bc12"><div class="ttname"><a href="structTrafficAppData__t.html#ac655b563c2dd27caa6770ca54ed4bc12">TrafficAppData_t::log</a></div><div class="ttdeci">bool log</div><div class="ttdoc">log DAA output </div><div class="ttdef"><b>Definition:</b> traffic.h:68</div></div>
<div class="ttc" id="traffic__msg_8h_html"><div class="ttname"><a href="traffic__msg_8h.html">traffic_msg.h</a></div><div class="ttdoc">Traffic message definition. </div></div>
<div class="ttc" id="structTrafficAppData__t_html_a4a78de3e51ee0b3d8bb36374e453424e"><div class="ttname"><a href="structTrafficAppData__t.html#a4a78de3e51ee0b3d8bb36374e453424e">TrafficAppData_t::Traffic_Pipe</a></div><div class="ttdeci">CFE_SB_PipeId_t Traffic_Pipe</div><div class="ttdoc">Pipe variable. </div><div class="ttdef"><b>Definition:</b> traffic.h:56</div></div>
<div class="ttc" id="traffic_8h_html_a0ba93009b8def22907ba0a8ac49851ab"><div class="ttname"><a href="traffic_8h.html#a0ba93009b8def22907ba0a8ac49851ab">TRAFFIC_AppMain</a></div><div class="ttdeci">void TRAFFIC_AppMain(void)</div><div class="ttdoc">Event ID definitions. </div><div class="ttdef"><b>Definition:</b> traffic.c:20</div></div>
<div class="ttc" id="structTrafficAppData__t_html_a20eda20a466c7f181a40a9080f4530c1"><div class="ttname"><a href="structTrafficAppData__t.html#a20eda20a466c7f181a40a9080f4530c1">TrafficAppData_t::altBands</a></div><div class="ttdeci">bands_t altBands</div><div class="ttdoc">Altitude kinematic band data. </div><div class="ttdef"><b>Definition:</b> traffic.h:63</div></div>
<div class="ttc" id="ardupilot__msg_8h_html"><div class="ttname"><a href="ardupilot__msg_8h.html">ardupilot_msg.h</a></div><div class="ttdoc">Ardupilot message definitions. </div></div>
<div class="ttc" id="traffic_8h_html_a0363cf678ca35e2ddc94dc4122dc8c80"><div class="ttname"><a href="traffic_8h.html#a0363cf678ca35e2ddc94dc4122dc8c80">TrafficTableValidationFunc</a></div><div class="ttdeci">int32_t TrafficTableValidationFunc(void *TblPtr)</div><div class="ttdef"><b>Definition:</b> traffic.c:315</div></div>
<div class="ttc" id="traffic_8h_html_a21d35f1721b07c5715a090e32d17d0fe"><div class="ttname"><a href="traffic_8h.html#a21d35f1721b07c5715a090e32d17d0fe">TRAFFIC_AppInit</a></div><div class="ttdeci">void TRAFFIC_AppInit(void)</div><div class="ttdef"><b>Definition:</b> traffic.c:41</div></div>
<div class="ttc" id="structTrafficAppData__t_html_ac3dc14b4feef5cd07223494d3fd10592"><div class="ttname"><a href="structTrafficAppData__t.html#ac3dc14b4feef5cd07223494d3fd10592">TrafficAppData_t::trackBands</a></div><div class="ttdeci">bands_t trackBands</div><div class="ttdoc">Track kinematic band data. </div><div class="ttdef"><b>Definition:</b> traffic.h:60</div></div>
<div class="ttc" id="structTrafficAppData__t_html"><div class="ttname"><a href="structTrafficAppData__t.html">TrafficAppData_t</a></div><div class="ttdef"><b>Definition:</b> traffic.h:55</div></div>
<div class="ttc" id="ardupilot_8h_html_a97f6f07d9b99c3e3d789183a9064a7da"><div class="ttname"><a href="ardupilot_8h.html#a97f6f07d9b99c3e3d789183a9064a7da">position</a></div><div class="ttdeci">EXTERN position_t position</div><div class="ttdoc">position message </div><div class="ttdef"><b>Definition:</b> ardupilot.h:165</div></div>
<div class="ttc" id="structTrafficAppData__t_html_ab9d07337512a5bfd295605f92391e4ec"><div class="ttname"><a href="structTrafficAppData__t.html#ab9d07337512a5bfd295605f92391e4ec">TrafficAppData_t::Traffic_tblHandle</a></div><div class="ttdeci">CFE_TBL_Handle_t Traffic_tblHandle</div><div class="ttdoc">Traffic table handle. </div><div class="ttdef"><b>Definition:</b> traffic.h:59</div></div>
<div class="ttc" id="structTrafficAppData__t_html_a867c381b45910858bf9a95803d7a2fcb"><div class="ttname"><a href="structTrafficAppData__t.html#a867c381b45910858bf9a95803d7a2fcb">TrafficAppData_t::time</a></div><div class="ttdeci">double time</div><div class="ttdoc">Time from autopilot. </div><div class="ttdef"><b>Definition:</b> traffic.h:67</div></div>
<div class="ttc" id="scheduler__msgids_8h_html"><div class="ttname"><a href="scheduler__msgids_8h.html">scheduler_msgids.h</a></div><div class="ttdoc">message topics published by the scheduler </div></div>
<div class="ttc" id="structTrafficAppData__t_html_aa961b336b5d93453ccdc01219ca9056a"><div class="ttname"><a href="structTrafficAppData__t.html#aa961b336b5d93453ccdc01219ca9056a">TrafficAppData_t::vsBands</a></div><div class="ttdeci">bands_t vsBands</div><div class="ttdoc">Vertical speed kinematic band data. </div><div class="ttdef"><b>Definition:</b> traffic.h:62</div></div>
<div class="ttc" id="structTrafficAppData__t_html_a0f3cbfe878ef7f1718e37bb4967546b0"><div class="ttname"><a href="structTrafficAppData__t.html#a0f3cbfe878ef7f1718e37bb4967546b0">TrafficAppData_t::numTraffic</a></div><div class="ttdeci">int numTraffic</div><div class="ttdoc">Number of traffic vehicles added. </div><div class="ttdef"><b>Definition:</b> traffic.h:69</div></div>
<div class="ttc" id="traffic__tbl_8h_html"><div class="ttname"><a href="traffic__tbl_8h.html">traffic_tbl.h</a></div><div class="ttdoc">traffic table definition </div></div>
<div class="ttc" id="traffic__msgids_8h_html"><div class="ttname"><a href="traffic__msgids_8h.html">traffic_msgids.h</a></div><div class="ttdoc">Traffic message id definitions. </div></div>
<div class="ttc" id="structTrafficAppData__t_html_a0ebdf3a4641184e19242c603859230c3"><div class="ttname"><a href="structTrafficAppData__t.html#a0ebdf3a4641184e19242c603859230c3">TrafficAppData_t::Traffic_MsgPtr</a></div><div class="ttdeci">CFE_SB_MsgPtr_t Traffic_MsgPtr</div><div class="ttdoc">Msg pointer to SB message. </div><div class="ttdef"><b>Definition:</b> traffic.h:57</div></div>
<div class="ttc" id="structTrafficAppData__t_html_a44a2a0c9e85d16de94908c358f443fcd"><div class="ttname"><a href="structTrafficAppData__t.html#a44a2a0c9e85d16de94908c358f443fcd">TrafficAppData_t::flightplan</a></div><div class="ttdeci">flightplan_t flightplan</div><div class="ttdoc">Mission flight plan information. </div><div class="ttdef"><b>Definition:</b> traffic.h:64</div></div>
<div class="ttc" id="structflightplan__t_html"><div class="ttname"><a href="structflightplan__t.html">flightplan_t</a></div><div class="ttdoc">message encoding flight plan information </div><div class="ttdef"><b>Definition:</b> ardupilot_msg.h:105</div></div>
<div class="ttc" id="traffic_8h_html_a288a99cb0d7b8001faf9a44dcdbb9a7c"><div class="ttname"><a href="traffic_8h.html#a288a99cb0d7b8001faf9a44dcdbb9a7c">TRAFFIC_ProcessPacket</a></div><div class="ttdeci">void TRAFFIC_ProcessPacket()</div><div class="ttdef"><b>Definition:</b> traffic.c:102</div></div>
<div class="ttc" id="ardupilot__msgids_8h_html"><div class="ttname"><a href="ardupilot__msgids_8h.html">ardupilot_msgids.h</a></div><div class="ttdoc">Message ID definition of ardupilot app messages. </div></div>
<div class="ttc" id="structbands__t_html"><div class="ttname"><a href="structbands__t.html">bands_t</a></div><div class="ttdoc">kinematics bands </div><div class="ttdef"><b>Definition:</b> traffic_msg.h:28</div></div>
<div class="ttc" id="traffic_8h_html_a22a3ce03169c30443bfe25a74cbb3316"><div class="ttname"><a href="traffic_8h.html#a22a3ce03169c30443bfe25a74cbb3316">TRAFFIC_AppCleanUp</a></div><div class="ttdeci">void TRAFFIC_AppCleanUp()</div><div class="ttdef"><b>Definition:</b> traffic.c:97</div></div>
<div class="ttc" id="structTrafficAppData__t_html_a1016a825edee3e8a55efadf5fecf325f"><div class="ttname"><a href="structTrafficAppData__t.html#a1016a825edee3e8a55efadf5fecf325f">TrafficAppData_t::speedBands</a></div><div class="ttdeci">bands_t speedBands</div><div class="ttdoc">Ground speed kinematic band data. </div><div class="ttdef"><b>Definition:</b> traffic.h:61</div></div>
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